So much for waiting for better weather. It was cold, windy, and I had an inch or two of snow in my backyard. Further, it is a smallish area surrounded by tree limb hazards on three sides and above. In other words, risky business!
I decided to test Alt. Hold and GPS-only Loiter modes first since it was my initial flight with Copter v3.4.3. My Alt. Hold was not solid so I discovered that the replacement for THE_MID, MOT_THST_HOVER was initially around 0.4 and slowly learning that it needed to be 0.3. Once I set it to 0.3, based upon my THR_OUT readings, the Alt Hold was rock solid and the GPS Loiter mode was very nice!
Next up, I changed EK2_GPS_TYPE (wrongly called EKF_GPS_TYPE on the Wiki) from 0 (use GPS) to 3 (ignore GPS and use the flow sensor). It was time for the nervous litmus test in a confined area. I got the Tarot 650 in position in Alt. Hold mode at around 4' and switched to Loiter. I almost couldn't believe it as it sat there perfectly still in the wind better then when using GPS. I was thrilled and will make a video soon when possible.
What should EK2_GPS_TYPE be set to for normal GPS/Optical Flow switch-over operation? 0?
Happy New Year!